Cooperative control of full electric braking system with independently driven four wheels

As the spread of the electric vehicle advance, the braking system of EVs tends to change from the hydraulic drive to the full electric drive. This paper says about a full electric braking system using a regenerative brake and an electromechanical brake. Especially, two cooperative control methods between the regenerative brake of each motor and the electromechanical brake are proposed. One method is open-loop control and another is feedback control of braking force. A simulator using an EV with independently driven four wheels was constructed and the characteristics of two cooperative braking controls were clarified